Exoskeleton design through optimization and adaptive control

November 15, 2017

Birmingham (UK)

GENERAL SCOPE

With the recent advancements of mechatronic technologies, wearable robotic systems such as exoskeletons are gaining interest in various scientific and technological domains. Given the application scope of exoskeletons and their tight physical coupling with the human body, consideration of optimality principles and interactive control of both the exoskeleton and the user is crucial for all aspects of exoskeleton research and development.

Understanding how our brains control even the simplest movement is a major challenge that has not yet been fully resolved due to the complexity of our neuromuscular system. Consequently, many theories are based on optimality principles that quantify task goals as cost functions. Then again, interactive control has mostly been used to either aid learning or learning to interact. Clearly, optimality principles and interactive control are highly desirable features of the next generation of exoskeletons. Synergies between these two research directions could result in exoskeletons that would better interact with humans and consequently augment or substitute human capabilities more efficiently.

The aim of this workshop is to bridge the gap between optimality principles and adaptive control to create a new generation of exoskeletons that would efficiently and unobtrusively operate on the human body. We will bring together scientists with expertise in a wide range of fields having a common denominator of either studying, developing or using exoskeletons for power assistance, rehabilitation, diagnostics, ergonomics, musculoskeletal monitoring, etc. Together we will discuss how to leverage exoskeleton research with novel adaptive control concepts and optimization methods in order to advance it into a key technology.

OBJECTIVES

Over the last decades a number of exoskeleton systems, targeting larger parts of the body or single joints, have been designed to either assist or resist the motion depending on the application. Given the application scope of exoskeletons and their tight physical interaction with the human body, effectiveness of optimality principles and interactive control from the human perspective has typically been underestimated or even neglected. This workshop aims at identifying major scientific and technological challenges of optimality principles and interactive control in order to push forward exoskeleton technology for the benefit of humanity.

Specifically, the workshop will focus on the following research fields in robotics:

Development of adaptive controllers to account for the user’s intentions.

Overcoming technical challenges in mechanical design due to limitations in size and weight.

Model-based optimization for exoskeleton design and control: development of realistic models of the human body and the exoskeleton that allow faithful predictions of the behavior in the computer model.

Understanding human physiology and tailoring of exoskeleton assistance to different motions.

Ergonomic requirements for exoskeletons, challenges for user acceptance, soft tissues for attaching exoskeletons to the body.

Soft exosuits: advantages and limitations, possibilities for combination with other design and control concepts.

Safety requirements in human-exoskeleton interaction.

Aspects of shared motor control between human and device.

In order to efficiently elaborate on these topics, we will: (1) bring together top experts from relevant disciplines to exchange ideas and results on these and related tasks, as well as on the form of existing and assistive systems; (2) consolidate the field of adaptive control and optimization methods to take into account the necessary ergonomic requirements; and (3) lay down optimal directions for future exoskeleton devices.

CALL FOR CONTRIBUTIONS

We welcome prospective participants to submit extended abstracts (up to 1 pages) to be presented as posters. The manuscripts should use the IEEE Humanoids two-column format. Please submit a PDF copy of your manuscript by email to the email address tadej.petric[at]ijs.si before October 21st. Each paper will receive a minimum of two reviews. Papers will be selected based on their originality, relevance to the workshop topics, contributions, technical clarity, and presentation. Accepted papers require that at least one of the authors register to the workshop. This workshop is an excellent opportunity to present and discuss your ongoing work and get an early feedback from the participants.